version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 134
start: 2 8 117 7 32 5
data:
$ID,626
$MISSION,1
$DIVE,134
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,235
$T_MISSION,500
$T_ABORT,400
$T_TURN,250
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,360
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130246.05
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,158
$PITCH_MAX,3905
$C_PITCH,2800
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.80853
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043901233
$SEABIRD_T_H,0.00063526275
$SEABIRD_T_I,2.50098e-05
$SEABIRD_T_J,2.985784e-06
$SEABIRD_C_G,-9.6502161
$SEABIRD_C_H,1.0763537
$SEABIRD_C_I,-0.002494992
$SEABIRD_C_J,0.00024128702
$GPS1,080217,072601,2251.007,-15803.301,18,1.4,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.3
$GPS2,080217,073111,2251.034,-15803.353,8,1.6,8,9.8
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,-0.182
$KALMAN_X,-93319.6,-334.5,164.3,91440.3,-2368.0
$KALMAN_Y,177328.7,-665.8,271.4,-158524.0,3875.9
$MHEAD_RNG_PITCHd_Wd,139.0,2103,-22.5,-9.929,-25.00,1474
$D_GRID,700
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.80,-95.4,114,2527,1152,1084,0.0,0.0,0,78,0.00,0.00,-55.08,0.000,16390,0.000,0.000,114,2527,2988,3021,2956,0,0,0,0,0,0,28.83,28.83,14.92
$GC,81,-0.84,-126.5,114,2527,3021,2956,3.9,-6.1,7,100,8.50,2.40,-1.98,0.000,18948,0.502,0.067,2526,1085,3117,3152,3082,0,0,0,0,0,0,14.44,14.69,14.84
$GC,258,-0.84,-126.5,2525,1085,3152,3083,61.4,-25.8,32,268,0.00,2.38,0.00,0.000,1030,0.000,0.053,2521,2484,3117,3153,3082,0,0,0,0,0,0,28.83,14.72,28.83
$GC,572,-0.84,-126.5,2521,2484,3154,3083,144.8,-25.1,81,579,0.00,2.38,0.00,0.000,260,0.000,0.072,2521,3914,3118,3154,3083,0,0,0,0,0,0,28.83,14.78,28.83
$GC,620,-0.84,-126.5,2521,3915,3154,3083,157.8,-25.3,87,624,0.00,2.30,0.00,0.000,1030,0.000,0.050,2520,2499,3118,3154,3083,0,0,0,0,0,0,28.83,14.83,28.83
$GC,875,-0.84,-126.5,2521,2498,3155,3083,208.7,-18.5,109,879,0.00,2.30,0.00,0.000,516,0.000,0.057,2522,1079,3119,3155,3083,0,0,0,0,0,0,28.83,14.88,28.83
$GC,939,-0.84,-126.5,2521,1079,3156,3083,216.1,-19.5,110,943,0.00,2.35,0.00,0.000,1030,0.000,0.054,2521,2503,3119,3157,3082,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1191,-0.84,-126.5,2521,2503,3157,3083,265.5,-16.6,117,1195,0.00,2.35,0.00,0.000,260,0.000,0.076,2521,3915,3120,3157,3083,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1270,-0.84,-126.5,2521,3915,3157,3083,277.9,-15.7,119,1274,0.00,2.28,0.00,0.000,1030,0.000,0.043,2521,2483,3120,3157,3083,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1549,-0.84,-126.5,2522,2481,3158,3083,321.1,-15.4,126,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2481,3120,3158,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,-0.84,-126.5,2521,2481,3157,3083,359.1,-16.3,132,1791,0.00,2.22,0.00,0.000,516,0.000,0.054,2522,1094,3120,3158,3083,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1801,-0.84,-126.5,2521,1094,3158,3083,359.1,-16.3,132,1805,0.00,2.33,0.00,0.000,1030,0.000,0.057,2521,2502,3120,3158,3082,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2063,-0.84,-126.5,2522,2503,3157,3082,400.9,-14.7,139,2067,0.00,2.33,0.00,0.000,260,0.000,0.079,2522,3908,3119,3157,3082,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2237,-0.84,-126.5,2521,3908,3157,3082,424.0,-14.8,143,2241,0.00,2.30,0.00,0.000,1030,0.000,0.044,2521,2464,3119,3157,3082,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2499,-0.84,-126.5,2521,2462,3157,3079,460.0,-12.5,150,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2462,3118,3157,3079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-0.84,-126.5,2521,2462,3157,3076,488.6,-12.0,156,2743,0.00,2.20,0.00,0.000,516,0.000,0.057,2522,1094,3116,3157,3076,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2782,-0.84,-126.5,2521,1093,3157,3075,493.2,-12.2,157,2786,0.00,2.33,0.00,0.000,1030,0.000,0.058,2522,2500,3116,3158,3075,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3054,-0.84,-126.5,2522,2501,3157,3071,530.2,-13.4,164,3059,0.00,2.35,0.00,0.000,260,0.000,0.082,2522,3911,3113,3157,3070,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3243,-0.84,-126.5,2522,3911,3157,3070,553.0,-14.6,168,3250,0.00,2.28,0.00,0.000,1030,0.000,0.047,2521,2491,3113,3157,3069,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3490,-0.84,-126.5,2521,2490,3157,3066,593.6,-14.4,175,3494,0.00,2.28,0.00,0.000,516,0.000,0.061,2521,1089,3111,3157,3065,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3509,-0.84,-126.5,2522,1089,3157,3065,593.6,-14.4,175,3513,0.00,2.35,0.00,0.000,1030,0.000,0.061,2522,2501,3111,3157,3065,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3766,-0.84,-126.5,2521,2502,3158,3062,633.1,-13.9,182,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2502,3109,3157,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4006,-0.84,-126.5,2521,2502,3157,3058,665.1,-13.2,188,4010,0.00,2.35,0.00,0.000,260,0.000,0.085,2522,3909,3107,3157,3058,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4045,-0.84,-126.5,1640,3909,3134,3054,669.9,-13.2,189,4049,0.00,2.30,0.00,0.000,1030,0.000,0.049,2522,2508,3107,3157,3057,0,0,0,0,0,0,28.83,15.01,28.83
$STATE,4281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4281,begin apogee
$GC,4285,-0.15,0.0,2522,2285,3157,3055,700.0,-12.4,195,4394,0.68,0.00,106.07,2.837,10246,0.318,0.000,2751,2285,2600,2679,2521,0,0,0,0,0,0,14.79,28.83,13.34
$STATE,4395,end apogee,CONTROL_FINISHED_OK
$STATE,4395,begin climb
$GC,4397,0.84,126.5,2751,2285,2679,2521,702.3,0.0,197,4518,0.82,2.42,112.78,2.940,10756,0.193,0.065,3075,921,2083,2165,2002,0,0,0,0,0,0,14.13,14.02,13.17
$GC,4528,0.84,126.5,3075,919,2164,1998,697.5,7.4,200,4532,0.00,2.47,0.00,0.000,1030,0.000,0.057,3075,2323,2081,2164,1998,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4800,0.84,126.5,3075,2323,2164,1990,641.4,18.1,207,4804,0.00,2.38,0.00,0.000,260,0.000,0.076,3075,3717,2077,2164,1990,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4958,0.84,126.5,2176,3717,2120,1984,611.2,19.3,211,4964,0.03,2.35,0.00,0.000,5126,0.534,0.055,3078,2338,2077,2164,1990,0,0,0,0,0,0,14.51,14.74,28.83
$GC,5236,0.84,126.5,3078,2336,2163,1984,565.8,16.0,218,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2336,2074,2164,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,0.84,126.5,3078,2336,2164,1982,529.6,14.9,224,5480,0.00,2.38,0.00,0.000,260,0.000,0.076,3078,3725,2073,2164,1982,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5680,0.84,126.5,3079,3725,2164,1982,497.2,16.8,229,5685,0.08,2.35,0.00,0.000,5126,0.536,0.054,3076,2294,2073,2164,1982,0,0,0,0,0,0,14.65,14.91,28.83
$GC,5952,0.84,126.5,3075,2293,2164,1978,453.7,15.2,236,5956,0.00,2.30,0.00,0.000,516,0.000,0.067,3085,900,2070,2164,1977,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6031,0.84,126.5,3086,900,2163,1975,442.0,15.5,238,6036,0.05,2.35,0.00,0.000,5126,0.548,0.056,3076,2314,2069,2163,1975,0,0,0,0,0,0,14.71,14.92,28.83
$GC,6303,0.84,126.5,3076,2314,2163,1975,401.6,14.4,245,6307,0.00,2.35,0.00,0.000,260,0.000,0.076,3075,3716,2069,2163,1975,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6367,0.84,126.5,3075,3716,2163,1976,396.1,14.3,246,6372,0.05,2.30,0.00,0.000,5126,0.600,0.053,3076,2305,2069,2163,1975,0,0,0,0,0,0,14.69,14.97,28.83
$GC,6619,0.84,126.5,3076,2304,2163,1975,358.1,12.9,253,6623,0.00,2.38,0.00,0.000,260,0.000,0.075,3076,3714,2069,2163,1975,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6713,0.84,126.5,3076,3714,2163,1974,346.6,13.9,255,6718,0.05,2.30,0.00,0.000,5126,0.606,0.054,3077,2304,2068,2163,1974,0,0,0,0,0,0,14.69,14.97,28.83
$GC,6975,0.84,126.5,3076,2302,2163,1974,309.7,12.4,262,6979,0.00,2.38,0.00,0.000,260,0.000,0.075,3076,3714,2068,2163,1973,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7075,0.84,126.5,3076,3715,2163,1974,299.4,12.8,264,7080,0.05,2.28,0.00,0.000,5126,0.607,0.052,3077,2310,2068,2163,1974,0,0,0,0,0,0,14.69,14.98,28.83
$GC,7327,0.84,126.5,3076,2308,2163,1972,268.1,10.7,271,7331,0.00,2.38,0.00,0.000,260,0.000,0.076,3076,3719,2067,2163,1972,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7581,0.84,126.5,3076,3719,2163,1973,239.6,11.8,277,7586,0.05,2.30,0.00,0.000,5126,0.608,0.051,3077,2299,2067,2163,1972,0,0,0,0,0,0,14.69,14.99,28.83
$GC,7843,0.86,144.5,3077,2297,2163,1972,214.9,8.7,284,7862,0.00,2.42,13.18,2.126,8452,0.000,0.075,3077,3723,2009,2105,1914,0,0,0,0,0,0,28.83,14.85,14.12
$GC,7959,0.86,144.5,3077,3723,2105,1915,200.9,11.3,287,7965,0.00,2.30,0.00,0.000,1030,0.000,0.050,3087,2311,2010,2105,1915,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8208,0.86,144.5,3087,2309,2106,1912,173.7,10.5,309,8213,0.00,2.33,0.00,0.000,516,0.000,0.061,3098,895,2008,2105,1912,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8229,0.86,144.5,3098,895,2105,1910,172.2,10.1,310,8238,0.05,2.40,0.00,0.000,5126,0.444,0.057,3082,2310,2007,2105,1910,0,0,0,0,0,0,14.59,14.83,28.83
$GC,8478,0.93,204.3,3082,2309,2105,1911,150.1,5.8,335,8539,0.00,2.47,48.92,2.155,10756,0.000,0.061,3092,903,1765,1870,1661,0,0,0,0,0,0,28.83,14.40,13.76
$GC,8632,0.93,204.3,3093,903,1870,1654,136.7,11.6,358,8642,0.00,2.42,0.00,0.000,1030,0.000,0.054,3092,2308,1762,1870,1654,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8941,0.93,204.3,3092,2308,1870,1654,98.2,12.8,407,8947,0.00,2.40,0.00,0.000,260,0.000,0.076,3092,3726,1762,1870,1654,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9176,0.93,204.3,3092,3726,1870,1658,62.3,15.1,443,9185,0.00,2.38,0.00,0.000,1030,0.000,0.050,3102,2302,1763,1870,1657,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9513,0.93,204.3,3103,2300,1870,1657,11.5,12.1,492,9523,0.00,2.45,0.00,0.000,260,0.000,0.071,3103,3723,1765,1870,1660,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,0.7,1.023631
$STATE,9586,end surface coast,CONTROL_FINISHED_OK
$STATE,9586,begin surface
$SM_CCo,9602,77.80,0.885,0,0,1130,360.09
$SM_GC,1.20,6.93,2.03,77.80,0.093,0.040,0.885,129,2492,1130,-8.22,1.36,360.09,0,0,0,0,0,0,14.83,14.83,14.18
$IRIDIUM_FIX,2241.69,-15803.66,051209,202031
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.58
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,13.2,48.801
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.325,107.875,280.950,77.800,0.000,30.745,47.613,142.615,0.500,0.000,9.276,1410.850,5895.398,417.955,2187.420,84.493,33.250,1199.168,0.000,1490.996,0.000,0.550,0.000
$DEVICE_MAMPS,608.175,84.915,2939.895,885.105,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,337.970,270.502,472.213,446.556,924.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352956
$DATA_FILE_SIZE,43955,502
$CAP_FILE_SIZE,101279,0
$CFSIZE,2097086464,2081062912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080217,101500,2250.763,-15803.006,60,0.8,60,9.8